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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_c481d7fee0e22217fbf7acbe5704656a.html">geofence</a></li><li class="navelem"><a class="el" href="dir_63ac12da94c4ba7c4a85d1047d19ee5a.html">fsw</a></li><li class="navelem"><a class="el" href="dir_a8b7769090b2686553b561bd33dfe63d.html">src</a></li>  </ul>
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<a href="geofence_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_GEOFENCE_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_GEOFENCE_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;cfe_error.h&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;cfe_evs.h&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;cfe_sb.h&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;cfe_es.h&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;GeofenceMonitor_proxy.h&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msgids_8h.html">msgids/ardupilot_msgids.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msg_8h.html">msgdef/ardupilot_msg.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;geofence_tbl.c&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="geofence__msg_8h.html">msgdef/geofence_msg.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="geofence__msgids_8h.html">msgids/geofence_msgids.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="scheduler__msgids_8h.html">msgids/scheduler_msgids.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define GEOFENCE_STARTUP_INF_EID 0</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define GEOFENCE_COMMAND_ERR_EID 1</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define GEOFENCE_RECEIVED_FENCE_EID 3</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define GEOFENCE_PIPE_DEPTH 100</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define GEOFENCE_PIPE_NAME &quot;GEOFENCE_PIPE&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define GEOFENCE_MAJOR_VERSION 1</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define GEOFENCE_MINOR_VERSION 0</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html">   56</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a2f0885b92fa1cbabe347dad44e81ce53">   57</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structgeofenceAppData__t.html#a2f0885b92fa1cbabe347dad44e81ce53">Geofence_Pipe</a>;       </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a79f7ef9d94ec6a0e1095ced52609becb">   58</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structgeofenceAppData__t.html#a79f7ef9d94ec6a0e1095ced52609becb">Geofence_MsgPtr</a>;     </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a1c9c82096ebe0027f31930282dc27510">   59</a></span>&#160;    CFE_TBL_Handle_t   <a class="code" href="structgeofenceAppData__t.html#a1c9c82096ebe0027f31930282dc27510">Geofence_tblHandle</a>;  </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a91103c449a1a892bcb6b5e89d73157bf">   60</a></span>&#160;    GeofenceMonitor* <a class="code" href="structgeofenceAppData__t.html#a91103c449a1a892bcb6b5e89d73157bf">gfMonitor</a>;             </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a937ebee8b16adaf0ae3e24fd5edf88c7">   61</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a>[3];                     </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a94aa045d428cef3b4c9c82ac61d7d5f2">   62</a></span>&#160;    <span class="keywordtype">double</span> velocity[3];                     </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#aeac0b3c2abc888f7b8e7c4a58caece3c">   63</a></span>&#160;    <a class="code" href="structgeofenceConflict__t.html">geofenceConflict_t</a> <a class="code" href="structgeofenceAppData__t.html#aeac0b3c2abc888f7b8e7c4a58caece3c">gfConflictData</a>;      </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a775ef6bfe27a98d0df2b2ff34c0176d1">   64</a></span>&#160;    <a class="code" href="structflightplan__t.html">flightplan_t</a> <a class="code" href="structgeofenceAppData__t.html#a775ef6bfe27a98d0df2b2ff34c0176d1">flightplan</a>;                </div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a1c3be2a94524af2b5e5802ad06141313">   65</a></span>&#160;    uint16_t <a class="code" href="structgeofenceAppData__t.html#a1c3be2a94524af2b5e5802ad06141313">numFences</a>;                     </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a90cc5f8c9577467c23718724fca635ca">   66</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structgeofenceAppData__t.html#a90cc5f8c9577467c23718724fca635ca">receivedFP</a>;                        </div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a3a8bfe9115b4b1936416f36269cd20ca">   67</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structgeofenceAppData__t.html#a3a8bfe9115b4b1936416f36269cd20ca">receivedFence</a>;                     </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#a6a7cbf39cd9dc8cd0e9ae568cc951551">   68</a></span>&#160;    <span class="keywordtype">bool</span> waypointConflict[50];              </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structgeofenceAppData__t.html#af4d752ba4772c4b327a5707dc7615d2e">   69</a></span>&#160;    <span class="keywordtype">bool</span> directPathToWP[50];                </div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}<a class="code" href="structgeofenceAppData__t.html">geofenceAppData_t</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> <a class="code" href="geofence_8h.html#a382acb2e83857a0fdcd2c6be47e75c62">GEOFENCE_AppMain</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">void</span> <a class="code" href="geofence_8h.html#a10d8d3896d07f8f93168abfe24c6c479">GEOFENCE_AppInit</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keywordtype">void</span> <a class="code" href="geofence_8h.html#a7a3841f3ad129babc9d44478d6d3bded">GEOFENCE_AppCleanUp</a>();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keywordtype">void</span> <a class="code" href="geofence_8h.html#a66ee93d2843f4655bc055a55d4702fe3">GEOFENCE_ProcessPacket</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="geofence_8h.html#a16edc578b0a42b1b5e39450f47f3e16f">   96</a></span>&#160;<a class="code" href="structgeofenceAppData__t.html">geofenceAppData_t</a> <a class="code" href="geofence_8h.html#a16edc578b0a42b1b5e39450f47f3e16f">geofenceAppData</a>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;int32_t <a class="code" href="geofence_8h.html#a827dc2e94095ea54a3ff9ad61cfae7f6">GeofenceTableValidationFunc</a>(<span class="keywordtype">void</span> *TblPtr);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_GEOFENCE_H</span></div><div class="ttc" id="structgeofenceAppData__t_html_a2f0885b92fa1cbabe347dad44e81ce53"><div class="ttname"><a href="structgeofenceAppData__t.html#a2f0885b92fa1cbabe347dad44e81ce53">geofenceAppData_t::Geofence_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t Geofence_Pipe</div><div class="ttdoc">Pipe variable. </div><div class="ttdef"><b>Definition:</b> geofence.h:57</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a3a8bfe9115b4b1936416f36269cd20ca"><div class="ttname"><a href="structgeofenceAppData__t.html#a3a8bfe9115b4b1936416f36269cd20ca">geofenceAppData_t::receivedFence</a></div><div class="ttdeci">bool receivedFence</div><div class="ttdoc">Flag indicating fence received. </div><div class="ttdef"><b>Definition:</b> geofence.h:67</div></div>
<div class="ttc" id="structgeofenceConflict__t_html"><div class="ttname"><a href="structgeofenceConflict__t.html">geofenceConflict_t</a></div><div class="ttdoc">message contaning information about goefence conflicts </div><div class="ttdef"><b>Definition:</b> geofence_msg.h:25</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a91103c449a1a892bcb6b5e89d73157bf"><div class="ttname"><a href="structgeofenceAppData__t.html#a91103c449a1a892bcb6b5e89d73157bf">geofenceAppData_t::gfMonitor</a></div><div class="ttdeci">GeofenceMonitor * gfMonitor</div><div class="ttdoc">Opaque pointer to GeofenceMonitor. </div><div class="ttdef"><b>Definition:</b> geofence.h:60</div></div>
<div class="ttc" id="ardupilot__msg_8h_html"><div class="ttname"><a href="ardupilot__msg_8h.html">ardupilot_msg.h</a></div><div class="ttdoc">Ardupilot message definitions. </div></div>
<div class="ttc" id="geofence_8h_html_a7a3841f3ad129babc9d44478d6d3bded"><div class="ttname"><a href="geofence_8h.html#a7a3841f3ad129babc9d44478d6d3bded">GEOFENCE_AppCleanUp</a></div><div class="ttdeci">void GEOFENCE_AppCleanUp()</div><div class="ttdef"><b>Definition:</b> geofence.c:105</div></div>
<div class="ttc" id="geofence_8h_html_a10d8d3896d07f8f93168abfe24c6c479"><div class="ttname"><a href="geofence_8h.html#a10d8d3896d07f8f93168abfe24c6c479">GEOFENCE_AppInit</a></div><div class="ttdeci">void GEOFENCE_AppInit(void)</div><div class="ttdef"><b>Definition:</b> geofence.c:38</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a79f7ef9d94ec6a0e1095ced52609becb"><div class="ttname"><a href="structgeofenceAppData__t.html#a79f7ef9d94ec6a0e1095ced52609becb">geofenceAppData_t::Geofence_MsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t Geofence_MsgPtr</div><div class="ttdoc">Pointer to SB message. </div><div class="ttdef"><b>Definition:</b> geofence.h:58</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a90cc5f8c9577467c23718724fca635ca"><div class="ttname"><a href="structgeofenceAppData__t.html#a90cc5f8c9577467c23718724fca635ca">geofenceAppData_t::receivedFP</a></div><div class="ttdeci">bool receivedFP</div><div class="ttdoc">Monitor flag. </div><div class="ttdef"><b>Definition:</b> geofence.h:66</div></div>
<div class="ttc" id="geofence_8h_html_a827dc2e94095ea54a3ff9ad61cfae7f6"><div class="ttname"><a href="geofence_8h.html#a827dc2e94095ea54a3ff9ad61cfae7f6">GeofenceTableValidationFunc</a></div><div class="ttdeci">int32_t GeofenceTableValidationFunc(void *TblPtr)</div><div class="ttdef"><b>Definition:</b> geofence.c:252</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_aeac0b3c2abc888f7b8e7c4a58caece3c"><div class="ttname"><a href="structgeofenceAppData__t.html#aeac0b3c2abc888f7b8e7c4a58caece3c">geofenceAppData_t::gfConflictData</a></div><div class="ttdeci">geofenceConflict_t gfConflictData</div><div class="ttdoc">Geofence conflict. </div><div class="ttdef"><b>Definition:</b> geofence.h:63</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a775ef6bfe27a98d0df2b2ff34c0176d1"><div class="ttname"><a href="structgeofenceAppData__t.html#a775ef6bfe27a98d0df2b2ff34c0176d1">geofenceAppData_t::flightplan</a></div><div class="ttdeci">flightplan_t flightplan</div><div class="ttdoc">Flight plan to monitor. </div><div class="ttdef"><b>Definition:</b> geofence.h:64</div></div>
<div class="ttc" id="ardupilot_8h_html_a97f6f07d9b99c3e3d789183a9064a7da"><div class="ttname"><a href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a></div><div class="ttdeci">EXTERN position_t position</div><div class="ttdoc">position message </div><div class="ttdef"><b>Definition:</b> ardupilot.h:165</div></div>
<div class="ttc" id="geofence__msgids_8h_html"><div class="ttname"><a href="geofence__msgids_8h.html">geofence_msgids.h</a></div><div class="ttdoc">Defines message topics published by the geofence application. </div></div>
<div class="ttc" id="scheduler__msgids_8h_html"><div class="ttname"><a href="scheduler__msgids_8h.html">scheduler_msgids.h</a></div><div class="ttdoc">message topics published by the scheduler </div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a1c9c82096ebe0027f31930282dc27510"><div class="ttname"><a href="structgeofenceAppData__t.html#a1c9c82096ebe0027f31930282dc27510">geofenceAppData_t::Geofence_tblHandle</a></div><div class="ttdeci">CFE_TBL_Handle_t Geofence_tblHandle</div><div class="ttdoc">Table handle. </div><div class="ttdef"><b>Definition:</b> geofence.h:59</div></div>
<div class="ttc" id="geofence__msg_8h_html"><div class="ttname"><a href="geofence__msg_8h.html">geofence_msg.h</a></div><div class="ttdoc">Defintion of messages used by geofence_msg.h. </div></div>
<div class="ttc" id="structflightplan__t_html"><div class="ttname"><a href="structflightplan__t.html">flightplan_t</a></div><div class="ttdoc">message encoding flight plan information </div><div class="ttdef"><b>Definition:</b> ardupilot_msg.h:105</div></div>
<div class="ttc" id="geofence_8h_html_a16edc578b0a42b1b5e39450f47f3e16f"><div class="ttname"><a href="geofence_8h.html#a16edc578b0a42b1b5e39450f47f3e16f">geofenceAppData</a></div><div class="ttdeci">geofenceAppData_t geofenceAppData</div><div class="ttdoc">global variable to hold app data </div><div class="ttdef"><b>Definition:</b> geofence.h:96</div></div>
<div class="ttc" id="ardupilot__msgids_8h_html"><div class="ttname"><a href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a></div><div class="ttdoc">Message ID definition of ardupilot app messages. </div></div>
<div class="ttc" id="structgeofenceAppData__t_html"><div class="ttname"><a href="structgeofenceAppData__t.html">geofenceAppData_t</a></div><div class="ttdoc">Struct to hold geofence app data. </div><div class="ttdef"><b>Definition:</b> geofence.h:56</div></div>
<div class="ttc" id="geofence_8h_html_a382acb2e83857a0fdcd2c6be47e75c62"><div class="ttname"><a href="geofence_8h.html#a382acb2e83857a0fdcd2c6be47e75c62">GEOFENCE_AppMain</a></div><div class="ttdeci">void GEOFENCE_AppMain(void)</div><div class="ttdef"><b>Definition:</b> geofence.c:17</div></div>
<div class="ttc" id="structgeofenceAppData__t_html_a1c3be2a94524af2b5e5802ad06141313"><div class="ttname"><a href="structgeofenceAppData__t.html#a1c3be2a94524af2b5e5802ad06141313">geofenceAppData_t::numFences</a></div><div class="ttdeci">uint16_t numFences</div><div class="ttdoc">Number of fnces. </div><div class="ttdef"><b>Definition:</b> geofence.h:65</div></div>
<div class="ttc" id="geofence_8h_html_a66ee93d2843f4655bc055a55d4702fe3"><div class="ttname"><a href="geofence_8h.html#a66ee93d2843f4655bc055a55d4702fe3">GEOFENCE_ProcessPacket</a></div><div class="ttdeci">void GEOFENCE_ProcessPacket()</div><div class="ttdef"><b>Definition:</b> geofence.c:110</div></div>
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